EasyFullControl API

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/EasyFullControl.hpp

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+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_FLEET_ADAPTER__AGV__EASYFULLCONTROL_HPP
+#define RMF_FLEET_ADAPTER__AGV__EASYFULLCONTROL_HPP
+
+#include <Eigen/Geometry>
+#include <rmf_fleet_adapter/agv/RobotUpdateHandle.hpp>
+
+#include <rmf_traffic/agv/Planner.hpp>
+#include <rmf_traffic/agv/VehicleTraits.hpp>
+#include <rmf_traffic/agv/Graph.hpp>
+
+namespace rmf_fleet_adapter {
+namespace agv {
+
+//==============================================================================
+class EasyFullControl : public std::enable_shared_from_this<EasyFullControl>
+{
+public:
+
+  /// The Configuration class contains parameters necessary to initialize an
+  /// Adapter instance and add fleets to the adapter.
+  class Configuration
+  {
+  public:
+
+    /// Constructor
+    ///
+    /// \param[in] node_name
+    ///   The name for the rclcpp::Node that will be produced for the Adapter.
+    ///
+    /// \param[in] fleet_name
+    ///   The name of the fleet that is being added.
+    ///
+    /// \param[in] graph
+    ///   The graph which is being used by the fleet.
+    ///
+    /// \param[in] traits
+    ///   The traits of the vehicle that is added to the fleet.
+    ///
+    /// \param[in] server_uri
+    ///   The URI for the websocket server that receives updates on tasks and
+    ///   states. If nullopt, data will not be published.
+    Configuration(
+      const std::string& node_name,
+      const std::string& fleet_name,
+      rmf_traffic::agv::Graph graph,
+      rmf_traffic::agv::VehicleTraits traits,
+      std::optional<std::string> server_uri = std::nullopt);
+
+    class Implementation;
+  private:
+    rmf_utils::impl_ptr<Implementation> _pimpl;
+  };
+
+  /// Initialize and spin an Adapter instance in order to add fleets.
+  ///
+  /// \param[in] config
+  ///   The Configuration for the adapter that contains parameters used by the
+  ///   fleet robots.
+  static std::shared_ptr<EasyFullControl> make(Configuration config);
+
+  using Start = std::variant<rmf_traffic::agv::Planner::Start, Eigen::Vector3d>;
+  using GetPosition = std::function<Eigen::Vector3d()>;
+  using ProcessCompleted = std::function<bool()>;
+
+  /// Initialize a robot in the fleet.
+  ///
+  /// \param[in] name
+  ///   The name of the robot.
+  ///
+  /// \param[in] get_position
+  ///   The position function that returns the robot's current location.
+  ///
+  /// \param[in] navigate
+  ///   The API function for navigating your robot to a pose.
+  ///   Returns a ProcessCompleted callback to check status of navigation task.
+  ///
+  /// \param[in] action_executor
+  ///   The ActionExecutor callback to request the robot to perform an action.
+  bool add_robot(
+    const std::string& name,
+    Start pose,
+    GetPosition get_position,
+    std::function<ProcessCompleted(const Eigen::Vector3d pose)> navigate,
+    ActionExecutor action_executor);
+
+  class Implementation;
+private:
+  EasyFullControl();
+  rmf_utils::unique_impl_ptr<Implementation> _pimpl;
+};
+
+using EasyFullControlPtr = std::shared_ptr<EasyFullControl>;
+
+} // namespace agv
+} // namespace rmf_fleet_adapter
+
+#endif // RMF_FLEET_ADAPTER__AGV__EASYFULLCONTROL_HPP